Toyota service manual has that part as an inspect and replace as necessary sort of thing.
The location of the PCV makes it tough to get at - my 2009 Matrix and Rav4 are the same way - under the intake manifold, have to move a bunch of stuff out of the way to get to it.
As for PCV replacement at 30K miles - if it really needs to be replaced all depends on how you drive. That 30K mile interval is only valid for extreme conditions - ie, running very short drive cycles (under 10 miles round trip). With that short of a drive, the oil may not get up to temperature - resulting in lots of moisture staying inside the crankcase.
This is especially critical If the car is showing signs of oil consumption - then you are more likely to need frequent PCV replacement.
As long as you can get the oil to operating temperature and keep it there long enough to "cook" off the moisture in the crankcase - that this is puts less of a strain on the PCV. Some cases, with long drive cycles, running a good quality motor oil - some are running their PCV valves 100K miles and up with zero issues.
From the details that you've given in the past on the car and how you drive it - I'd say that 30K miles is a tad too early. As long as the car seems to be running well and no issues with poor fuel economy, drivability, or oil consumption - I'd say 60K miles would be the earliest I'd change it or couple the change with something else that needs to be work on at the time around that area (ie, throttlebody cleaning, valvecover replacement, etc.)
FWIW, I'm still running the OEM one on my 2009 Matrix (~90K miles) - no issues with oil consumption or driveability so far (has a 2.4L 2AZ-FE engine that is a known oil guzzler). If the weather stays like this weekend, I'll pop mine off and take a peek - post it up here for reference.